2026-04-15T15:17:06 - INFO: MSIP3D 0.2.5
2026-04-15T15:17:06 - INFO: P3D files will be output to /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764
2026-04-15T15:17:06 - INFO: Found 10 TFD dictionary entries
2026-04-15T15:17:06 - INFO: Found TFD mission for SJ502795 Dep 19
2026-04-15T15:17:06 - INFO: Recording will be processed as MD
2026-04-15T15:17:06 - INFO: Copying assets JSON to output directory...
2026-04-15T15:17:06 - INFO: Preparing counter data...
2026-04-15T15:17:06 - INFO: Interpreting counter as imperial
2026-04-15T15:17:06 - INFO: Preparing size track from assets JSON...
2026-04-15T15:17:06 - INFO: Preparing shape track from assets JSON...
2026-04-15T15:17:06 - INFO: Preparing material track from assets JSON...
2026-04-15T15:17:06 - INFO: Prepared counter data in 0.0183 s
2026-04-15T15:17:06 - INFO: Extracting sonar data...
TFD path: /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/tfd/SJ502795_Dep_19.tfd
TFD path: /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2906
22 / 2906 [>___________________________________________________________________________] 0.76% ? p/s45 / 2906 [->__________________________________________________________________________] 1.55% ? p/s67 / 2906 [->__________________________________________________________________________] 2.31% ? p/s88 / 2906 [-->_______________________________________________________________________] 3.03% 110 p/s111 / 2906 [-->______________________________________________________________________] 3.82% 110 p/s132 / 2906 [--->_____________________________________________________________________] 4.54% 110 p/s154 / 2906 [--->_____________________________________________________________________] 5.30% 110 p/s176 / 2906 [---->____________________________________________________________________] 6.06% 110 p/s198 / 2906 [---->____________________________________________________________________] 6.81% 110 p/s220 / 2906 [----->___________________________________________________________________] 7.57% 110 p/s242 / 2906 [------>__________________________________________________________________] 8.33% 110 p/s263 / 2906 [------>__________________________________________________________________] 9.05% 110 p/s285 / 2906 [------->_________________________________________________________________] 9.81% 110 p/s307 / 2906 [------->________________________________________________________________] 10.56% 110 p/s329 / 2906 [-------->_______________________________________________________________] 11.32% 110 p/s351 / 2906 [-------->_______________________________________________________________] 12.08% 110 p/s374 / 2906 [--------->______________________________________________________________] 12.87% 110 p/s396 / 2906 [--------->______________________________________________________________] 13.63% 110 p/s418 / 2906 [---------->_____________________________________________________________] 14.38% 110 p/s440 / 2906 [---------->_____________________________________________________________] 15.14% 110 p/s462 / 2906 [----------->____________________________________________________________] 15.90% 110 p/s485 / 2906 [------------>___________________________________________________________] 16.69% 110 p/s506 / 2906 [------------>___________________________________________________________] 17.41% 110 p/s528 / 2906 [------------->__________________________________________________________] 18.17% 110 p/s550 / 2906 [------------->__________________________________________________________] 18.93% 110 p/s572 / 2906 [-------------->_________________________________________________________] 19.68% 110 p/s594 / 2906 [-------------->_________________________________________________________] 20.44% 110 p/s616 / 2906 [--------------->________________________________________________________] 21.20% 110 p/s638 / 2906 [--------------->________________________________________________________] 21.95% 110 p/s660 / 2906 [---------------->_______________________________________________________] 22.71% 110 p/s682 / 2906 [---------------->_______________________________________________________] 23.47% 110 p/s704 / 2906 [----------------->______________________________________________________] 24.23% 110 p/s726 / 2906 [----------------->______________________________________________________] 24.98% 110 p/s749 / 2906 [------------------>_____________________________________________________] 25.77% 110 p/s772 / 2906 [------------------->____________________________________________________] 26.57% 110 p/s795 / 2906 [------------------->____________________________________________________] 27.36% 110 p/s819 / 2906 [-------------------->___________________________________________________] 28.18% 111 p/s842 / 2906 [-------------------->___________________________________________________] 28.97% 111 p/s865 / 2906 [--------------------->__________________________________________________] 29.77% 111 p/s888 / 2906 [---------------------->_________________________________________________] 30.56% 111 p/s911 / 2906 [---------------------->_________________________________________________] 31.35% 111 p/s934 / 2906 [----------------------->________________________________________________] 32.14% 111 p/s957 / 2906 [----------------------->________________________________________________] 32.93% 111 p/s981 / 2906 [------------------------>_______________________________________________] 33.76% 111 p/s1004 / 2906 [------------------------>______________________________________________] 34.55% 111 p/s1026 / 2906 [------------------------->_____________________________________________] 35.31% 111 p/s1049 / 2906 [------------------------->_____________________________________________] 36.10% 111 p/s1073 / 2906 [-------------------------->____________________________________________] 36.92% 111 p/s1096 / 2906 [-------------------------->____________________________________________] 37.72% 112 p/s1120 / 2906 [--------------------------->___________________________________________] 38.54% 112 p/s1143 / 2906 [--------------------------->___________________________________________] 39.33% 112 p/s1166 / 2906 [---------------------------->__________________________________________] 40.12% 112 p/s1189 / 2906 [----------------------------->_________________________________________] 40.92% 112 p/s1212 / 2906 [----------------------------->_________________________________________] 41.71% 112 p/s1236 / 2906 [------------------------------>________________________________________] 42.53% 112 p/s1259 / 2906 [------------------------------>________________________________________] 43.32% 112 p/s1281 / 2906 [------------------------------->_______________________________________] 44.08% 112 p/s1304 / 2906 [------------------------------->_______________________________________] 44.87% 112 p/s1326 / 2906 [-------------------------------->______________________________________] 45.63% 112 p/s1349 / 2906 [-------------------------------->______________________________________] 46.42% 112 p/s1371 / 2906 [--------------------------------->_____________________________________] 47.18% 112 p/s1394 / 2906 [---------------------------------->____________________________________] 47.97% 112 p/s1416 / 2906 [---------------------------------->____________________________________] 48.73% 112 p/s1438 / 2906 [----------------------------------->___________________________________] 49.48% 112 p/s1461 / 2906 [----------------------------------->___________________________________] 50.28% 112 p/s1483 / 2906 [------------------------------------>__________________________________] 51.03% 112 p/s1505 / 2906 [------------------------------------>__________________________________] 51.79% 112 p/s1528 / 2906 [------------------------------------->_________________________________] 52.58% 112 p/s1551 / 2906 [------------------------------------->_________________________________] 53.37% 112 p/s1573 / 2906 [-------------------------------------->________________________________] 54.13% 112 p/s1595 / 2906 [-------------------------------------->________________________________] 54.89% 112 p/s1618 / 2906 [--------------------------------------->_______________________________] 55.68% 112 p/s1640 / 2906 [---------------------------------------->______________________________] 56.43% 112 p/s1663 / 2906 [---------------------------------------->______________________________] 57.23% 112 p/s1685 / 2906 [----------------------------------------->_____________________________] 57.98% 112 p/s1707 / 2906 [----------------------------------------->_____________________________] 58.74% 112 p/s1730 / 2906 [------------------------------------------>____________________________] 59.53% 112 p/s1752 / 2906 [------------------------------------------>____________________________] 60.29% 112 p/s1774 / 2906 [------------------------------------------->___________________________] 61.05% 112 p/s1797 / 2906 [------------------------------------------->___________________________] 61.84% 112 p/s1819 / 2906 [-------------------------------------------->__________________________] 62.59% 112 p/s1842 / 2906 [--------------------------------------------->_________________________] 63.39% 112 p/s1865 / 2906 [--------------------------------------------->_________________________] 64.18% 112 p/s1887 / 2906 [---------------------------------------------->________________________] 64.93% 112 p/s1910 / 2906 [---------------------------------------------->________________________] 65.73% 112 p/s1932 / 2906 [----------------------------------------------->_______________________] 66.48% 112 p/s1955 / 2906 [----------------------------------------------->_______________________] 67.27% 112 p/s1976 / 2906 [------------------------------------------------>______________________] 68.00% 112 p/s1998 / 2906 [------------------------------------------------>______________________] 68.75% 112 p/s2020 / 2906 [------------------------------------------------->_____________________] 69.51% 112 p/s2042 / 2906 [------------------------------------------------->_____________________] 70.27% 112 p/s2064 / 2906 [-------------------------------------------------->____________________] 71.03% 112 p/s2086 / 2906 [-------------------------------------------------->____________________] 71.78% 112 p/s2109 / 2906 [--------------------------------------------------->___________________] 72.57% 112 p/s2131 / 2906 [---------------------------------------------------->__________________] 73.33% 112 p/s2153 / 2906 [---------------------------------------------------->__________________] 74.09% 112 p/s2175 / 2906 [----------------------------------------------------->_________________] 74.85% 112 p/s2197 / 2906 [----------------------------------------------------->_________________] 75.60% 112 p/s2219 / 2906 [------------------------------------------------------>________________] 76.36% 112 p/s2227 / 2906 [------------------------------------------------------>________________] 76.63% 110 p/s2249 / 2906 [------------------------------------------------------>________________] 77.39% 110 p/s2266 / 2906 [------------------------------------------------------->_______________] 77.98% 110 p/s2285 / 2906 [------------------------------------------------------->_______________] 78.63% 109 p/s2307 / 2906 [-------------------------------------------------------->______________] 79.39% 109 p/s2329 / 2906 [-------------------------------------------------------->______________] 80.14% 109 p/s2351 / 2906 [--------------------------------------------------------->_____________] 80.90% 109 p/s2373 / 2906 [--------------------------------------------------------->_____________] 81.66% 109 p/s2395 / 2906 [---------------------------------------------------------->____________] 82.42% 109 p/s2418 / 2906 [----------------------------------------------------------->___________] 83.21% 110 p/s2440 / 2906 [----------------------------------------------------------->___________] 83.96% 110 p/s2462 / 2906 [------------------------------------------------------------>__________] 84.72% 110 p/s2485 / 2906 [------------------------------------------------------------>__________] 85.51% 110 p/s2507 / 2906 [------------------------------------------------------------->_________] 86.27% 110 p/s2530 / 2906 [------------------------------------------------------------->_________] 87.06% 110 p/s2552 / 2906 [-------------------------------------------------------------->________] 87.82% 110 p/s2575 / 2906 [-------------------------------------------------------------->________] 88.61% 110 p/s2597 / 2906 [--------------------------------------------------------------->_______] 89.37% 110 p/s2620 / 2906 [---------------------------------------------------------------->______] 90.16% 110 p/s2642 / 2906 [---------------------------------------------------------------->______] 90.92% 110 p/s2665 / 2906 [----------------------------------------------------------------->_____] 91.71% 110 p/s2688 / 2906 [----------------------------------------------------------------->_____] 92.50% 110 p/s2711 / 2906 [------------------------------------------------------------------>____] 93.29% 110 p/s2734 / 2906 [------------------------------------------------------------------>____] 94.08% 110 p/s2757 / 2906 [------------------------------------------------------------------->___] 94.87% 111 p/s2780 / 2906 [------------------------------------------------------------------->___] 95.66% 111 p/s2803 / 2906 [-------------------------------------------------------------------->__] 96.46% 111 p/s2826 / 2906 [--------------------------------------------------------------------->_] 97.25% 111 p/s2849 / 2906 [--------------------------------------------------------------------->_] 98.04% 111 p/s2873 / 2906 [---------------------------------------------------------------------->] 98.86% 111 p/s2896 / 2906 [---------------------------------------------------------------------->] 99.66% 111 p/s2906 / 2906 [----------------------------------------------------------------------] 100.00% 112 p/s2026-04-15T15:17:32 - INFO: Parsing 2906 sonar sweeps from /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-15T15:19:19 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip --sonar-sample-offset -1 /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764"
2026-04-15T15:19:21 - INFO: DataPrep 0.14.4
2026-04-15T15:19:21 - INFO: Prepared data will be output to /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764/processing/data
2026-04-15T15:19:21 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-15T15:19:21 - deployment - INFO: Detected P3D version: P3D_1
2026-04-15T15:19:21 - INFO: Recording GUID: 9dbb69f4-3dba-a315-9a3e-5004937a8764
2026-04-15T15:19:21 - INFO: Preparing sonar data...
2026-04-15T15:19:21 - INFO: /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-15T15:19:23 - INFO: Sonar epoch is 2026-03-26 13:15:44.418798+00:00 (1774530944418797965)
2026-04-15T15:19:23 - INFO: Creating sonar sensor alignment track...
2026-04-15T15:19:23 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-04-15T15:19:23 - INFO: Sensor speed of sound is 1500 m/s
2026-04-15T15:19:23 - INFO: Sensor range is 0.722400 m
2026-04-15T15:19:23 - INFO: Sensor micrometres per sample is 2400.000032
2026-04-15T15:19:23 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-04-15T15:19:23 - INFO: Scaled range is 0.719746 m
2026-04-15T15:19:23 - INFO: Scaled micrometres per sample is 2391.181774
2026-04-15T15:19:23 - INFO: Processing 2906 sweeps...

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2026-04-15T15:19:33 - INFO: Prepared sonar data in 12.0411 s
2026-04-15T15:19:33 - INFO: No IMU data found
2026-04-15T15:19:33 - INFO: DataPrep took 0:00:12.409980
2026-04-15T15:19:33 - INFO: Extracted sonar data in 0:02:27.035150
2026-04-15T15:19:34 - INFO: MSIP3D took 0:02:27.314480